Servo control mechanism



May 10, 1960 J. RABINOW ETAL SERVO CONTROL MECHANISM Original Filed July 10, 1952 4 Sheets-Sheet 1 INVENTORS Jacob Rab/now Emmett 0. Bailey Franc/s H. .S'heparq Jr. (O. @W

cam Max-w ATTORNEYS May 10, 1960 J. RABINOW EFAL SERVO CONTROL MECHANISM Original Filed July 10, 1952 4 Sheets-Sheet 3 m M, m 0 r N WHP m W "GM w m wa A R 08 mm FIH Q w wt May 10, 1960 J. RABI NOW ETA!- SERVO CONTROL MECHANISM Original Filed July 10, 1952 4 $heets-Sheet 4 IN VENTORS Jacob Rabinqw E mmefl 6. Balley Francis H. 5hepard,JI: (0. E)

ATTORNEYS United States Patent 2,935,900 SERVO CONTROL MECHANISM Jacob Rahino'w, Takoma Park, Md., Emmett C. Bailey, Riverside, Calif., and Francis H. Shepard, Jr., Summit, N.J., assignors to the United States of America as rep! resented by the Secretary of the Navy Original application July 10, 1952, Serial No. 2?8,076. Divided and this application June 27, 1957, Serial No. 671,684

1 Claim. (Cl. 7;4-788) such as ailerons, elevons, rudders, flaps, and the like in accordance with the flight path or changes in flight path desired. Although it is possible to position theflight course control elements by direct mechanical linkages to a central control station, the linkages required become cumbersome and the system becomes unwieldy. It is therefore preferred in the art to employ servo control mechanisms associated directly with each flight course control element and operated remotely by electrical signals issuing from the central control station. The command signals for causing electrical signals to issue from the central control station may be initiated at the original launching site or at any other point remote from the missile.

The present invention pertains to a servo control mechanism of this type, which utilizes the air slip of the craft or missile to power a windmill, air motor, or air turbine as the servo motor or prime mover for positioning the course control elements as desiredby the central control station. Since it is generally necessary to move the various coursecontrol elements in one of two directions, a

It is therefore one object of the present invention to, provide a windmill or air motor powered servo mecha-.

msm.

Another object of the present invention is to provide a windmill or air motor powered servo mechanism utilizing an electromagnetic clutch, for selecting two directions of actuation from the unidirectional motor in response to an electrical control signal.

Another object of the present invention is to provide a low inertia reversing magnetic clutch. 1 Another object of the present invention is to provide a low inertia magnetic clutch operating in response to a continuous unidirectional input drive to supply three out: put conditions: two directions of output drive and a neutral or zero output condition.

Other objects and many of the attendant advantages of this invention will be readily appreciated as the same becomes better understood by reference to the following detailed description when considered in connection with the accompanying drawings wherein:

Fig. 1 is an end view of a Wing of an aircraft or missil having an air powered servo mechanism exemplary -o the present invention mounted thereunder; i.

Fig. 2a is an enlarged view of the forward portion of an air powered servo mechanism exemplary of the pres: ent invention, shown partially in longitudinal section;

Fig. 2b is an enlarged view of the after portion of the servo mechanism illustrated in Fig. 2a, shown partially'in longitudinal section;

Fig. 3 is a cross-sectional view of the mechanism shown in Fig. 2a, taken along. line 3-3 thereof;

Fig. 4 is a cross-sectional view of the mechanism shown: in Fig. 2a, taken along line 44 thereof; and i Fig. 5 is an isometric view of a spider employed in the magnetic clutch illustrated in Fig. 2a.

Referring particularly to the partially longitudinally I sectioned view of the servo control mechanism embodiw reversing clutch is associated with the air motor in the present servo control mechanism to derive from the unidirectional motor two directions of movement. The power from the motor as controlled by the reversing clutch is applied to an actuator in turn coupled to a course control element to move and position the element in one of the two directions as desired. In the preferred embodiment of the present invention, clutch operation is bad between three conditions, one condition providing power transmission in one direction, the second condition providingpower transmission in the opposite direction, and the third condition being neutral wherein motor power is not transmitted to the actuator; In obtaining the above three-way action, it is preferred to employ a magnetic control over the clutch appropriately responsive to sig nals issuing from the central flight control station. Also, I

there is associated with the actuator an electrical followup signals means operated thereby to indicate to the central control station the position of the actuator and hence of the course control element, to enable comparison of the actual position of the course control element with that required by the central flight control station. The signals issuing from the central control station therefore operate the clutch magnets to effect movement of the course control element in one direction or the other as required, until the follow-up signal controlled by the actuator indicates that the course control element is in the required position; whereupon the clutch is placed in its afore-mentioned neutral condition so that no more energy is transmitted from the motor to the actuator,

ment of the present invention illustrated in Figs. 2a and 2b, the device comprises three primary secti'onsz' the windmill or air turbine 10, the magnetic clutch 20, and the actuator 80. *Windrnill 10 is mounted for axial rota tion relative to the major housing 97 and is connected to rotatable drive shaft 11, which terminates in a reduced diameter stub shaft 13 supported in the annular friction bearing 14. As shown in the drawing, the rearward por tion of shaft 11 is splined longitudinally at 12 to provide a gear drive for the magnetic clutch assembly described below.

Annularly disposed about the shaft 11 and located at each end thereof are two substantially identical eleetro: magnet assemblies, shown as comprising the annular coils- 21 and 21a housed within the annular main body mem bers 22 and 22a and the supplemental annular body members 23 and 23a. The magnet body members are formed from temporary magnetic, material, such as soft iron, and the portions 25 and 26 of one magnet and 25a and 26a of the other magnet provide annular pole pieces therefor separated by the annular air gaps :27 and 27a respectively. In order to fully insulate the housing 97 and other portions of the mechanism from the effects of the magnets when energized, the magnet body members may be spaced therefrom by nonpermeable elements such as rings 24 and 24a, annular cap 28,.and bearingcaps'29;

Supported between the electromagnet assemblies on the bearings 31 and 31a, and surrounding a portion of the drive shaft 11, is the remainder of the magnetic clutch V assembly. The hub of this assembly is spider 30, which pppo ednp ns 3 Strand 36. 3

Carried by the spider are two sets of planetary gear systems, one supported between disks 32 and 33 and the other supported between disks 33 and 34. The gear system supported between the disks 32 and 33 is best shown-in the'cross-s'ectional view, Fig. 3, where it'islseen that two idler gears 46 and 46a mesh with the splined portion 12 of drive shaft 11 through the cutout sections 35 and 35a in the central cylindrical portion 38 of the spider. And these gears respectively mesh with gears 40a and 40, which in turn mesh with the teeth of an internal ring gear 47. Considering the details of the individual assemblies of gears 40, 40a, reference is had to that for gear 40' as exemplary of the other. Gear 40 which meshes with the ring gear 47 carries therewith a pitch diameter roller 41, and this unit is rotatably carried between the disks 32 and 33 of the spider upon a stub shaft 44 which enters holes 45 (Figs. 2a and 5) in these disks and is fixed therein by any suitable expedient, such as setscrew 45a. The gear 40 and its associated pitch diameter roller are spaced from the disks 32 and 33 by the thrust rings 42 and 43. The other gears 46 and 46a are also rotatably mounted between the disks 32 and 33 of the spider. Surrounding this gear assembly is the previously mentioned ring gear 47, and affixed thereto by means of screws 50, or the like, is an annular ring 49 of temporary magnetic material which is positioned adjacent the pole pieces 25 and 26 of the magnet 21, 22, 23. Magnetically insulating the ring gear 47 from the magnetically permeable annulus 49 is the annular spacer 48 of nonmagnetic material, also providing a pitch diameter bearing for roller 41.

From the above structural description had with reference to Figs. 2a, 3, and 5, it can be seen that the instant planetary gear arrangement operates in conjunction with the temporary magnet 21, 22, 23 as follows: When the afore-mentioned magnet is not energized the magnetically permeable annulus 49 is not attracted to the pole pieces thereof and hence it, along with the magnetically insulating spacer 48 and ring gear 47 associated therewith, are free to rotate relative to the magnet. Hence, when shaft 11 is rotated by its driving windmill or air motor 10, it causes idler gears 46 and 46a, which mesh with the splined portion 12 of the drive shaft 11, to rotate about their respective axes to in turn similarly rotate gears 40 and 40a. Since ring gear 47 is now free to travel about the gears 40, 40a, 46 and46a in response to rotation of these planetary gears, the planetary gears remain stationary in their orbits. However, upon energ'ization of the magnet 21, 22, 23, the magnetically permeable annulus 49 is attracted to the pole pieces 25, 26

and is there held against rotation, consequently stopping the travel of ring gear 47. Under this condition the planetary gears 40, 40a, 46, and 46a are compelled to travel in their orbits around the ring gear 47 and about the drive shaft 11, consequently rotating the spider 30 upon which the axes of the planetary gears are carried.

Referring next to the gear assembly located between ananular disks 33 and 34 of the spider with particular reference to Figs. 2a and 4-, it will be seen that this system comprises two planetary gears 60 and 60a mes-hing both with the splined section 12 of drive shaft 11, through the openings 36 and 37 in the central portion 38 of the spider, and with the teeth of the internal ring gear 67. The construction of this gear assembly is substantially identical to that described for the other gear assembly with the exception of the omission of idler planetary gears. The ring gear assembly comprising the ring gear 67, the magnetically insulating spacer 68, and the magnetically permeable annulus 69, all afiixed together as by screws 70, is also substantially identical to that described above. It may be thus seen that when shaft 11 is driven by its windmill 10, and when the magnet 21a, 22a, 23a is not energized, rotation of gears 60 and 60a causes ring gear 67 to rotate relative to the magnet and to travel about the planetary gears 60 and 60a. However, when this magnet is energized, rotation of ring gear 67 is stopped and the planetary gears 60 and 60a are caused to orbit about the drive shaft or sun gear 11 carrying therewith the spider 30 upon which they are mounted.

Since idler gears 46 and 46a are interposed in the first described planetary gear assembly and are omitted in the second described assembly, it is apparent that when ring gears 47 and 67 are both free to rotate relative to their respective magnets in response to rotation of drive shaft 11, they rotate in opposite directions; and similarly the orbital motions of the planetary gears of the two assemblies are in opposite directions when their respective ring gears are fixed against rotation by energization of their respective magnets. Hence, when neither of the two magnets is energized the spider 30 remains stationary; when magnet 21, 22, 23 is energized and magnet 21a, 22a, 23a is not energized, spider 30 rotates upon its bearings 31, 31a in one direction; and when magnet 21a, 22a, 23a is energized with magnet 21, 22,23 not energized, the spider 30 rotates upon its bearings 31, 31a in the 0pposite direction.

Actuator shaft 81, shown in Figs. 2a and 2b, which is threaded at 84 is fixed to spider 30 by means of key 82 and pin 83 for rotation therewith upon hearing 85. Internally threaded traveler shaft or nut 86 is threaded upon actuator shaft 81 and fixed against rotation by the entrance of key 87 into groove 88 formed in the traveler shaft. If desired, a low friction ball bearing return type screw drive may be employed by the actuator and traveler shafts. Thus, upon rotation of spider 30 actuator shaft 81 is rotated therewith, and shaft or nut 86 threaded onto the actuator shaft 81 is caused to travel axially along actuator shaft 81 in one direction or the other depending upon the direction of rotation of the spider 30 and actuator shaft 81. Traveler shaft 86 which terminates in eye 89 may be atlixed to a clevis or crank 103, as shown in Fig. 1, to position an eleven, aileron, ele- .vator, or the like 102 when this servo control mechanism is mounted upon the undersurface of a guided missile or aircraft wing 101, as through the ball and socket joint 94. Aflixed to and shown in Fig. 2b as depending from traveler shaft 86 is an electrical roller contact 90 which traverses a potentiometer slide wire 91 as shaft 86 is moved. I This variable potentiometer is used for the purpose indicated above of providing an electrical signal indicative of actual traveler shaft or course control element position, and the signal thus derived is fed back to the central control 'stationt 0 enable a comparison between course control element position desired and that actually had. All electrical connections between the missile or aircraft and the instant servo control mechanism, as may be necessary to effect operation of the electromagnets and of the instant position follow-up potentiometer, may be had through the cable 96.

'In operation of the servo control mechanism described herein above, it is contemplated that it be mounted in the air slip of the missile or aircraft, as for example on the undersurface of a wing, from which the windmill or air turbine 10 derives the operating power. This power is transmitted from the windmill through the drive shaft 11 and spider 30 to the actuator shaft 81, which latter is inturn coupled to the traveler shaft 86 to move the same axially in one of two directions as required by the central control station. The proper positioning of the travelershaft 86 is effected through the magnetic clutches associated with the. spider 30 operating in response to signals derived from the central control station with that required, a variable potentiometer is associated with the traveler shaft whose output to the central control station is varied in accordance with the position occupied by this shaft.

The above-described specific embodiment of the present invention is presented merely by way of example to facilitate a clear understanding of the invention. Obviously many modifications and variations of the present invention are possible in the light of the above teachings. It is therefore to be understood that within the scope of the appended claims the invention may be practiced otherwise than as specifically described.

What is claimed is:

A transmission mechanism comprising a unitary rotatably mounted spider having an annular sleeve, 21 pair of planetary gears carried by and rotatably mounted on said spider in spaced relation with respect to each other, means including at least three disc members integrally formed with said sleeve for rotatably mounting said planetary gears on the spider in said mutually spaced relation with respect to each other, a pair of ring gears carried loosely over said planetary gears respectively and having a permeable annulus secured thereto, means including a shaft rotatably mounted within said sleeve and cooperating with each of the planetary gears for driving the planetary gears to rotate the ring gears in opposite directions, and an electromagnetic brake cooperating with the permeable annulus on each ring gear, said brake including an annular coil and a pair of mutually spaced annularv pole elements mounted on said sleeve and fixed with respect thereto and rendered effective by said coil to: selectively engaging and applying longitudinal braking forces to said permeable annulus upon energization of said coil to allow and retard said rotation of said ring gears, the selective holding of one ring gear with respect to the other ring gear causing the planetary gear cooperating therewith to orbit, resulting in rotation of said spider in either one of two directions depending upon which of the ring gears is held against said rotation.

References Cited in the file of this patent UNITED STATES PATENTS 2,258,005 Durdin Oct. 7, 1941 2,682,789 Ochtman July 6, 1954 2,737,064 Stoeckicht Mar. 6, 1956 2,748,623 Hill June 5, 1956 FOREIGN PATENTS 500,334 Great Britain Feb. 7, 1939 818,003 Germany Oct. 22, 1951 

